This is a very simple but pretty complete example, trying to use the least possible dependencies. I have tested in a just installed Ubuntu and you only needed the AXControl library (I created and use it because then there were no Robotis library and because it can use serial port, Dynamixel bus, Zigbee, BT (Robotis or other adaptors)

It use the terminal, no QT, to avoid library dependencies. But you should add the AXControl_v2 lib files to your /usr/lib folder as administrator (sudo). Click here if you want one unique executable for Linux (tested with Linux Mint 14) using these sources files

When executed, it shows the values configured in the HexaWheels.conf file and any problem it founds, like SerialPort2Dynamixel.open(ss)=> [Serial port NOT opened]: